Abstract: To reduce the load pressure of the ground system,a Framework of AGV System (FAGVS) was proposed.The framework uses the idea of distributed collaboration to move some functions of ground system down to the vehicle system,and made use of distributed computing capability of vehicle system to enable AGV vehicles to cooperate to complete transportation tasks.The whole system was reconstructed by this design,which could not only reduce the pressure of ground control system,but also made AGV have the ability of autonomous movement.FAGVS was defined formally,the relationship between modules was described,and some key technologies was discussed.The advantages and disadvantages of FAGVS and general AGV systems were compared through experiments.The successful application of AGV in factories showed that the proposed architecture was applicable and had definite practical value.

Key words: automated guided vehicle system, system architecture, intelligent manufacturing, ground control system, distributed collaboration

摘要： 为了降低地面系统的负载压力,提出一种自动导引小车系统架构(FAGVS)。该架构采用分布式协作思想将地面系统的部分功能下移到车载系统,利用车载系统的分布式计算能力使自动导引小车协作完成运输任务。该设计对整体系统进行重新构造,不仅可以降低地面系统压力,还可使自动导引小车具有自主移动等能力。对FAGVS进行了形式化定义,描述了各模块间的关系,并论述了关键技术,最后通过实验对比了FAGVS与一般自动导引小车系统的优劣。自动导引小车在工厂的成功应用表明所提架构具有一定的实用价值。

关键词: 自动导引小车系统, 系统架构, 智能制造, 地面系统, 分布式协作